WO2021051911A1 - Feed recycling system and using method thereof - Google Patents

Feed recycling system and using method thereof Download PDF

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WO2021051911A1
WO2021051911A1 PCT/CN2020/097244 CN2020097244W WO2021051911A1 WO 2021051911 A1 WO2021051911 A1 WO 2021051911A1 CN 2020097244 W CN2020097244 W CN 2020097244W WO 2021051911 A1 WO2021051911 A1 WO 2021051911A1
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module
time
recovery
feed
recycling
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French (fr)
Chinese (zh)
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张京玲
陈可烁
胡建业
王天雷
林家民
聂湛然
林柏诚
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五邑大学
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/90—Details of database functions independent of the retrieved data types
    • G06F16/901—Indexing; Data structures therefor; Storage structures
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02B—HYDRAULIC ENGINEERING
    • E02B15/00—Cleaning or keeping clear the surface of open water; Apparatus therefor
    • E02B15/04—Devices for cleaning or keeping clear the surface of open water from oil or like floating materials by separating or removing these materials
    • E02B15/10—Devices for removing the material from the surface
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Systems or methods specially adapted for specific business sectors, e.g. utilities or tourism
    • G06Q50/02—Agriculture; Fishing; Mining

Abstract

A using method of a feed recycling system comprises the following steps: upload a feeding position of a feed feeding point to a database module for storage by utilizing a positioning module (S100); upload a feeding completion time point of feed feeding completion to the database module for storage by using a time module (S200); processing the feeding completion time point by means of a data processing module to obtain a recycling starting time point (S300); obtaining a real-time time point by using the time module, comparing the recycling starting time point with the real-time time point, and transmitting obtained starting information to a moving module (S400); and the moving module drives a recycling module to recycle feed along a recycling path according to the starting information and the feeding position (S500). After feed feeding is finished, residual feed can be automatically recycled, a feed recycling time period is greatly shortened, the feed recycling range is wide, and the recycling efficiency is high.

Description

一种饲料回收系统及其使用方法Feed recovery system and use method thereof 技术领域Technical field
本发明涉及水产养殖领域，具体涉及一种饲料回收系统及其使用方法。The invention relates to the field of aquaculture, in particular to a feed recovery system and a use method thereof.
背景技术Background technique
目前国内淡水养殖面积非常巨大，而随着社会的发展，对淡水养殖的质量要求越来越高。对于淡水养殖，水质是一项非常重要的指标，它直接决定养殖生物的生存环境，影响生物的正常生长，水华的出现是破环水质的主要因素，而饲料投放量过多，残余饲料溶解产生的营养物质积累，是导致水体富营养化而出现水华的重要原因，目前对于水面上残余饲料的回收依靠人力打捞，打捞耗费的时间长，且打捞效率低，造成人工成本较高。At present, the domestic freshwater aquaculture area is very huge, and with the development of society, the quality requirements for freshwater aquaculture are getting higher and higher. For freshwater aquaculture, water quality is a very important indicator. It directly determines the living environment of the cultured organisms and affects the normal growth of the organisms. The appearance of blooms is the main factor that destroys the water quality. If the amount of feed is too much, the residual feed will dissolve. The accumulation of nutrients produced is an important reason for the eutrophication of water bodies and the appearance of blooms. At present, the recovery of residual feed on the water depends on manpower salvage, which takes a long time and the salvage efficiency is low, resulting in higher labor costs.
发明内容Summary of the invention
为解决上述问题，本发明的目的在于提供一种饲料回收系统及其使用方法，能够在饲料投放完成后，自动进行残余饲料回收操作，回收效率高，且大大缩短了饲料回收的时间。In order to solve the above-mentioned problems, the purpose of the present invention is to provide a feed recovery system and a use method thereof, which can automatically perform residual feed recovery operations after the feed is put into operation, with high recovery efficiency and greatly shortening the feed recovery time.
本发明解决其问题所采用的技术方案是：The technical solutions adopted by the present invention to solve its problems are:
第一方面，本发明提出了一种饲料回收系统，包括如下步骤：用于回收饲料的回收模块、用于检测投放位置与实时行驶位置的定位模块、用于驱动所述回收模块移动的移动模块、用于存储数据的数据库模块、用于处理数据的数据处理模块和用于获取实时时间的时间模块。In the first aspect, the present invention proposes a feed recovery system, including the following steps: a recovery module for recovering feed, a positioning module for detecting the placement position and real-time driving position, and a mobile module for driving the recovery module to move , A database module for storing data, a data processing module for processing data, and a time module for obtaining real-time time.
第二方面，本发明实施例还提出了一种饲料回收系统的使用方法，包括如下步骤：In the second aspect, the embodiment of the present invention also proposes a method for using the feed recovery system, which includes the following steps:
利用定位模块将饲料投放点的投放位置上传到数据库模块进行存储；Use the positioning module to upload the placement position of the feed placement point to the database module for storage;
利用时间模块将饲料投放完成的投放完成时间上传到所述数据库模块进行存储；Use the time module to upload the delivery completion time of the feed delivery to the database module for storage;
通过数据处理模块对所述投放完成时间进行处理，得到回收启动时间；Process the delivery completion time through the data processing module to obtain the recovery start time;
利用所述时间模块获取实时时间，对所述回收启动时间与所述实时时间进行对比处理，并将得到的启动信息传送到移动模块；Use the time module to obtain the real-time time, compare the recovery start time with the real-time time, and transmit the obtained start information to the mobile module;
所述移动模块根据所述启动信息和所述投放位置，驱动回收模块沿着回收路径进行饲料回收，所述回收路径包括经过所述投放位置的路径和以所述投放位置为圆心的圆周路径。The moving module drives the recovery module to recover feed along a recovery path according to the startup information and the placing position, and the recovery path includes a path passing through the placing position and a circular path centered on the placing position.
进一步，通过数据处理模块对所述投放完成时间进行处理，得到回收启动时间，包括如下步骤：Further, processing the release completion time through the data processing module to obtain the recovery start time includes the following steps:
通过所述数据处理模块调用所述数据库模块存储的回收间隔时间；Calling the recovery interval stored by the database module through the data processing module;
所述数据处理模块根据所述回收间隔时间对所述投放完成时间进行处理，得到回收启动时间。The data processing module processes the placement completion time according to the recycling interval time to obtain the recycling start time.
进一步，利用所述时间模块获取实时时间，对所述回收启动时间与所述实时时间进行对比处理，并将得到的启动信息传送到移动模块，包括如下步骤：Further, using the time module to obtain the real-time time, compare the recovery start time with the real-time time, and transmit the obtained start information to the mobile module, including the following steps:
利用所述时间模块获取实时时间；Obtaining real-time time by using the time module;
所述时间模块根据所述实时时间对所述回收启动时间进行对比，若所述实时时间与所述回收启动时间一致，则得到启动信息；The time module compares the recovery start time according to the real-time time, and if the real-time time is consistent with the recovery start time, the start information is obtained;
通过所述时间模块将所述启动信息传送到所述移动模块。The startup information is transmitted to the mobile module through the time module.
进一步，移动模块根据所述启动信息和所述投放位置，驱动回收模块沿着回收路径进行饲料回收，所述回收路径包括经过所述投放位置的路径和以所述投放位置为圆心的圆周路径，包括如下步骤：Further, the moving module drives the recovery module to recover feed along a recovery path according to the startup information and the placement position, and the recovery path includes a path passing through the placement position and a circular path centered on the placement position, Including the following steps:
通过所述数据处理模块对所述投放位置进行处理，得到饲料回收的回收路径，所述回收路径包括经过所述投放位置的路径和以所述投放位置为圆心的圆周路径；Processing the dropping position by the data processing module to obtain a recycling path for feed recovery, the recycling path including a path passing through the dropping position and a circular path centered on the dropping position;
所述移动模块根据所述启动信息驱动所述回收模块沿着所述回收路径进行饲料回收。The moving module drives the recycling module to perform feed recycling along the recycling path according to the activation information.
进一步，通过所述数据处理模块对所述投放位置进行处理，得到饲料回收的回收路径，包括如下步骤：Further, processing the placement location through the data processing module to obtain a recovery path for feed recovery includes the following steps:
通过所述数据处理模块调用所述数据库模块存储的回收半径；Calling the recovery radius stored by the database module through the data processing module;
所述数据处理模块根据所述回收半径对所述投放位置进行处理，得到回收路径，所述回收路径包括经过所述投放位置的路径，以及以所述投放位置为圆心、以所述回收半径为半径的圆周路径。The data processing module processes the placement position according to the recycling radius to obtain a recycling path. The recycling path includes a path passing through the placement position, and taking the placement position as the center and taking the recycling radius as the center. The circular path of the radius.
进一步，移动模块根据所述启动信息驱动所述回收模块沿着所述回收路径进行饲料回收，包括如下步骤：Further, the moving module drives the recycling module to perform feed recycling along the recycling path according to the startup information, including the following steps:
所述移动模块根据所述启动信息驱动所述回收模块进行移动；The moving module drives the recycling module to move according to the startup information;
所述回收模块根据所述启动信息进行饲料回收操作；The recovery module performs a feed recovery operation according to the startup information;
利用所述定位模块获取所述移动模块的实时行驶位置；Obtaining the real-time driving position of the mobile module by using the positioning module;
所述数据处理模块根据所述回收路径对所述实时行驶位置进行处理，若所述实时行驶位置在所述回收路径上，则所述移动模块继续移动；若所述实时行驶位置不在所述回收路径上，则所述移动模块返回到所述回收路径上进行移动。The data processing module processes the real-time driving position according to the recovery path. If the real-time driving position is on the recovery path, the movement module continues to move; if the real-time driving position is not in the recovery path On the path, the moving module returns to the recovery path to move.
本发明实施例中提供的技术方案，至少具有如下有益效果：利用定位模块上传饲料投放点的投放位置，便于对投放位置进行检测和处理；利用时间模块获取饲料投放完成的投放完成时间，便于对投放完成时间进行处理，更好地调节移动模块和回收模块的工作时间；数据库模块用于存储数据，便于数据处理模块调用数据库模块内的数据，加快数据处理速率；数据处理模块根据投放完成时间得到回收启动时间，使得时间模块能够对回收启动时间进行实时时间对比，并将得到的启动信息传送到移动模块，保证了移动模块启动的准确性，提高了饲料回收的效率；移动模块驱动回收装置移动，使得回收装置能够沿着回收路径进行饲料回收，且回收路径包括经过投放位置的路径和以投放位置为圆心的圆周路径，提高了饲料回收的范围和效率，确保了饲料回收的有效性。The technical solution provided in the embodiment of the present invention has at least the following beneficial effects: the positioning module is used to upload the placement position of the feed placement point, which is convenient for detecting and processing the placement position; the time module is used to obtain the placement completion time of the feed placement, which is convenient for checking The time of delivery completion is processed to better adjust the working time of the mobile module and the recovery module; the database module is used to store data, so that the data processing module can call the data in the database module to speed up the data processing rate; the data processing module obtains according to the delivery completion time Recycling start time enables the time module to compare the start time of recycling in real time, and transmit the obtained start information to the mobile module, which ensures the accuracy of the start of the mobile module and improves the efficiency of feed recycling; the mobile module drives the recycling device to move , So that the recovery device can recover feed along the recovery path, and the recovery path includes a path passing through the placement position and a circular path centered on the placement position, which improves the range and efficiency of feed recycling and ensures the effectiveness of feed recycling.
附图说明Description of the drawings
下面结合附图和实例对本发明作进一步说明。The present invention will be further explained below with reference to the drawings and examples.
图1是本发明的饲料回收系统的使用方法的一个实施例的整体流程图；Figure 1 is an overall flow chart of an embodiment of the method of using the feed recovery system of the present invention;
图2是本发明的饲料回收系统的一个实施例的整体结构示意图；Figure 2 is a schematic diagram of the overall structure of an embodiment of the feed recovery system of the present invention;
图3是本发明的饲料回收系统的使用方法的数据处理模块对所述投放位置进行处理，得到饲料回收的回收路径的一个实施例的示意图。Fig. 3 is a schematic diagram of an embodiment in which the data processing module of the method of using the feed recovery system of the present invention processes the placement position to obtain a recovery path for feed recovery.
具体实施方式detailed description
目前对于水面上残余饲料的回收依靠人力打捞，打捞耗费的时间长，且打捞效率低，造成人工成本较高。At present, the recovery of residual feed on the water depends on manpower salvage, which takes a long time and the salvage efficiency is low, resulting in high labor costs.
基于此，本发明提供了一种饲料回收系统及其使用方法，能够在饲料投放后，自动进行残余饲料回收操作，回收效率高。Based on this, the present invention provides a feed recovery system and a use method thereof, which can automatically perform a residual feed recovery operation after the feed is put into use, with high recovery efficiency.
下面结合附图，对本发明实施例作进一步阐述。The embodiments of the present invention will be further described below in conjunction with the accompanying drawings.
参照图2，本发明的一个实施例提供了饲料回收系统，包括如下步骤：用于回收饲料的回收模块、用于检测饲料投放位置与实时行驶位置的定位模块、用于驱动所述回收模块移动的移动模块、用于存储数据的数据库模块、用于处理数据的数据处理模块和用于获取实时时间的时间模块。2, an embodiment of the present invention provides a feed recovery system, including the following steps: a recovery module for recovering feed, a positioning module for detecting feed placement and real-time driving position, and driving the recovery module to move The mobile module, the database module for storing data, the data processing module for processing data, and the time module for obtaining real-time time.
在本实施例中，回收模块用于回收残余饲料，避免残余饲料溶解产生营养物质的积累，导致水体富营养化而出现水华，有效地保护了水质；定位模块用于检测投放位置与移动模块的实时行驶位置，便于对投放位置和移动模块的实时行驶位置的进行监控，从而更好地调节移动模块的移动路径；移动模块用于驱动回收模块移动，使得回收模块更够在限定的范围内进行饲料回收，提高了饲料回收的效率；数据库模块用于存储数据，便于数据处理模块调用数据库模块内的数据，加快数据处理速率；数据处理模块用于处理数据，计算饲料回收的最 佳方案，例如是回收路径和回收时间，确保了回收模块的回收效率，提高了饲料回收的有效性；时间模块用于获取投放完成时间和实时时间，有助于控制移动模块的工作时间和回收模块的回收时间，提高饲料回收的效率。In this embodiment, the recovery module is used to recover the residual feed to avoid the accumulation of nutrients due to the dissolution of the residual feed, which leads to the eutrophication of the water body and the appearance of blooms, which effectively protects the water quality; the positioning module is used to detect the placement position and the mobile module The real-time driving position of the mobile module facilitates the monitoring of the placement position and the real-time driving position of the mobile module, so as to better adjust the moving path of the mobile module; the mobile module is used to drive the recovery module to move, so that the recovery module is more within a limited range Feed recycling improves the efficiency of feed recycling; the database module is used to store data, so that the data processing module can call the data in the database module to speed up the data processing rate; the data processing module is used to process data and calculate the best plan for feed recycling. For example, the recycling path and recycling time ensure the recycling efficiency of the recycling module and improve the effectiveness of feed recycling; the time module is used to obtain the delivery completion time and real-time time, which helps to control the working time of the mobile module and the recycling of the recycling module. Time to improve the efficiency of feed recovery.
进一步地，参照图1，本发明的另一个实施例还提供了一种饲料回收系统的使用方法，包括如下步骤：Further, referring to Fig. 1, another embodiment of the present invention also provides a method of using a feed recovery system, which includes the following steps:
步骤S100：利用定位模块将饲料投放点的投放位置上传到数据库模块进行存储；Step S100: using the positioning module to upload the placement position of the feed placement point to the database module for storage;
步骤S200：利用时间模块将饲料投放完成的投放完成时间上传到所述数据库模块进行存储；Step S200: using the time module to upload the delivery completion time of the feed delivery to the database module for storage;
步骤S300：通过数据处理模块对所述投放完成时间进行处理，得到回收启动时间；Step S300: Process the release completion time through the data processing module to obtain the recovery start time;
步骤S400：利用所述时间模块获取实时时间，对所述回收启动时间与所述实时时间进行对比处理，并将得到的启动信息传送到移动模块；Step S400: Use the time module to obtain the real-time time, compare the recovery start time with the real-time time, and transmit the obtained start information to the mobile module;
步骤S500：所述移动模块根据所述启动信息和所述投放位置，驱动回收模块沿着回收路径进行饲料回收，所述回收路径包括经过所述投放位置的路径和以所述投放位置为圆心的圆周路径。Step S500: The moving module drives the recovery module to recover the feed along the recovery path according to the startup information and the placing position, and the recovery path includes a path passing through the placing position and a circle centered at the placing position. Circular path.
在本实施例中，步骤S100利用定位模块上传饲料投放点的投放位置，便于对投放位置进行检测和处理，更好地调节移动模块的移动路径；步骤S200利用时间模块获取饲料投放完成的投放完成时间，便于对投放完成时间进行处理，更好地调节移动模块的工作时间；步 骤S300数据库模块用于存储数据，便于数据处理模块调用数据库模块内的数据，加快数据处理速率；步骤S400数据处理模块对投放完成时间进行处理，得到回收启动时间，使得时间模块能够对回收启动时间进行实时时间的对比，并在回收启动时间与实时时间一致时，向移动模块传送运转的启动信息，使得移动模块进行运转，并驱动回收模块进行移动，时间模块保证了回收启动时间的准确性，提高了饲料回收的效率；步骤S500移动模块驱动回收装置移动，使得回收装置能够沿着回收路径进行饲料回收，且回收路径包括经过投放位置的路径和以投放位置为圆心的圆周路径，提高了饲料回收的范围和效率，确保了饲料回收的有效性。In this embodiment, in step S100, the positioning module is used to upload the placement position of the feed placement point, which facilitates the detection and processing of the placement position, and better adjusts the movement path of the mobile module; step S200 uses the time module to obtain the placement completion of the feed placement. Time, it is convenient to process the delivery completion time, and better adjust the working time of the mobile module; step S300 database module is used to store data, so that the data processing module can call the data in the database module to speed up the data processing rate; step S400 data processing module Process the delivery completion time to obtain the recovery start time, so that the time module can compare the recovery start time in real time, and when the recovery start time is consistent with the real time time, the start information of the operation is transmitted to the mobile module to make the mobile module perform It runs and drives the recovery module to move. The time module ensures the accuracy of the recovery start time and improves the efficiency of feed recovery; step S500, the mobile module drives the recovery device to move, so that the recovery device can recover the feed along the recovery path, and the recovery The path includes a path passing through the placement location and a circular path with the placement location as the center of the circle, which improves the scope and efficiency of feed recovery and ensures the effectiveness of feed recovery.
其中，饲料投放点可设置为随机投放或根据一定的规则投放，当饲料投放点按照一定的规则进行投放时，例如是根据水养殖场的养殖面积，计算每个投放点的位置，使得每个投放点之间的距离相近，均匀分布在养殖场内，保证了饲料投放的有效性。Among them, the feed placement points can be set to be randomly placed or placed according to certain rules. When the feed placement points are placed according to certain rules, for example, the position of each placement point is calculated according to the breeding area of the aquaculture farm, so that each The distances between the feeding points are similar, and they are evenly distributed in the farm to ensure the effectiveness of feed feeding.
进一步地，本发明的另一个实施例还提供了一种饲料回收系统的使用方法，其中，通过数据处理模块对所述投放完成时间进行处理，得到回收启动时间，包括如下步骤：Further, another embodiment of the present invention also provides a method for using a feed recovery system, wherein processing the putting completion time through a data processing module to obtain the recovery start time includes the following steps:
步骤S310：通过所述数据处理模块调用所述数据库模块存储的回收间隔时间；Step S310: Call the recovery interval stored by the database module through the data processing module;
步骤S320：所述数据处理模块根据所述回收间隔时间对所述投放完成时间进行处理，得到回收启动时间。Step S320: The data processing module processes the placement completion time according to the recycling interval time to obtain the recycling start time.
在本实施例中，步骤S310数据库模块中存储有回收间隔时间， 即投放完成时间与回收启动时间的时间间隔；其中，回收间隔时间的取值范围一般设置为5分钟至20分钟，保证了水中的养殖生物的充分喂食时间，同时避免了饲料在水中长时间的浸泡，导致饲料的溶解。步骤S320数据处理模块根据回收间隔时间对投放完成时间进行处理，计算得到投放完成时间与回收间隔时间的叠加时间，即投放完成时间经过回收间隔时间段后的时间，记为回收启动时间；回收启动时间的设置提高了移动模块和回收模块的启动运转的准确率，有效地控制了饲料在水中浸泡的时间。In this embodiment, the step S310 database module stores the recovery interval time, that is, the time interval between the delivery completion time and the recovery start time; the value range of the recovery interval time is generally set to 5 minutes to 20 minutes, which ensures that the water The sufficient feeding time of the breeding organisms, while avoiding the long-term soaking of the feed in the water, leading to the dissolution of the feed. Step S320 The data processing module processes the delivery completion time according to the recycling interval time, and calculates the superposition time of the delivery completion time and the recycling interval time, that is, the time after the completion time of the delivery has passed the recycling interval time period, which is recorded as the recycling start time; recycling start The time setting improves the accuracy of the start-up operation of the mobile module and the recovery module, and effectively controls the time that the feed is soaked in the water.
进一步地，本发明的另一个实施例还提供了一种饲料回收系统的使用方法，其中，利用所述时间模块获取实时时间，对所述回收启动时间与所述实时时间进行对比处理，并将得到的启动信息传送到移动模块，包括如下步骤：Further, another embodiment of the present invention also provides a method of using a feed recovery system, wherein the time module is used to obtain real-time time, the recovery start time is compared with the real-time time, and The obtained startup information is transmitted to the mobile module, including the following steps:
步骤S410：利用所述时间模块获取实时时间；Step S410: Obtain real-time time by using the time module;
步骤S420：所述时间模块根据所述实时时间对所述回收启动时间进行对比，若所述实时时间与所述回收启动时间一致，则得到启动信息；Step S420: The time module compares the recovery start time according to the real-time time, and if the real-time time is consistent with the recovery start time, then start information is obtained;
步骤S430：通过所述时间模块将所述启动信息传送到所述移动模块。Step S430: Transmit the startup information to the mobile module through the time module.
在本实施例中，步骤S410时间模块获取实时时间；步骤S420时间模块接收回收启动时间，并将实时时间与回收启动时间进行对比，若实时时间与回收启动时间不一致，则继续操作步骤S410获取实时时间，并进行回收启动时间的对比，若实时时间与回收启动时间一致， 则时间模块得到启动信息。步骤S430时间模块将启动信息传送到移动模块，使得移动模块根据启动信息更加准确地进行启动运作，提高了回收装置回收的准确性。In this embodiment, the time module in step S410 obtains the real-time time; the time module in step S420 receives the recovery start time and compares the real-time time with the recovery start time. If the real-time time is inconsistent with the recovery start time, proceed to step S410 to obtain the real time Time, and compare the recovery start time. If the real-time time is consistent with the recovery start time, the time module obtains the start information. In step S430, the time module transmits the start-up information to the mobile module, so that the mobile module can more accurately perform the start-up operation according to the start-up information, thereby improving the accuracy of the recovery device recovery.
进一步地，本发明的另一个实施例还提供了一种饲料回收系统的使用方法，其中，移动模块根据所述启动信息和所述投放位置，驱动回收模块沿着回收路径进行饲料回收，所述回收路径包括经过所述投放位置的路径和以所述投放位置为圆心的圆周路径，包括如下步骤：Further, another embodiment of the present invention also provides a method for using a feed recovery system, wherein the moving module drives the recovery module to recover feed along the recovery path according to the startup information and the placement position, and The recovery path includes a path passing through the placement position and a circular path centered on the placement position, and includes the following steps:
步骤S510：通过所述数据处理模块对所述投放位置进行处理，得到饲料回收的回收路径，所述回收路径包括经过所述投放位置的路径和以所述投放位置为圆心的圆周路径；Step S510: processing the placing position by the data processing module to obtain a recovery path of feed recovery, the recovery path including a path passing through the placing position and a circular path centered on the placing position;
步骤S520：所述移动模块根据所述启动信息驱动所述回收模块沿着所述回收路径进行饲料回收。Step S520: The moving module drives the recycling module to perform feed recycling along the recycling path according to the activation information.
在本实施例中，步骤S510通过数据处理模块对投放位置进行处理，数据处理模块根据回收路径经过投放位置，和以投放位置为圆心进行圆周运动的原则，处理得到回收路径；而投放位置是饲料最初的投放点，饲料随着时间的推移，会在水中逐渐进行扩散，扩散的范围为以投放位置为圆心的半径范围内，其中半径范围没有限定，会根据实际的环境状态而改变。In this embodiment, step S510 uses the data processing module to process the placement position. The data processing module obtains the recycling path according to the principle of the recycling path passing through the placement location and circular motion with the placement location as the center of the circle; and the placement location is the feed At the initial placement point, the feed will gradually diffuse in the water over time. The diffusion range is within the radius of the placement location as the center of the circle. The radius range is not limited and will change according to the actual environmental conditions.
步骤S520回收模块的工作原理是在某一固定点进行水分的抽取即过滤，因为回收模块的抽取过程具有吸力，会对某一固定点及其附近的水分同时进行抽取，有效地扩大了饲料回收的范围，提高了饲料回收的效率。移动模块接收启动信息，并启动回收模块沿着回收路径 进行饲料回收，回收路径包括投放位置，那么回收装置能够对投放位置的饲料进行回收，回收得到大部分的残余饲料，并且在回收装置逐渐接近投放位置的过程中，会回收投放位置附近的残余饲料，提高了饲料回收的效率；回收路径包括以投放位置为圆心的圆周路径，那么回收装置能够对投放位置的圆周范围内进行残余饲料的回收，有效地扩大了饲料回收的范围，提高了饲料回收的效率。Step S520 The working principle of the recovery module is to extract water at a fixed point, that is, to filter. Because the extraction process of the recovery module has suction, it will simultaneously extract the water at a fixed point and its vicinity, which effectively expands the feed recovery. The range of feed recovery improves the efficiency of feed recovery. The mobile module receives the start information and starts the recovery module to recover the feed along the recovery path. The recovery path includes the placement position. Then the recovery device can recover the feed at the placement location, and most of the residual feed is recovered, and the recycling device is gradually approaching During the placement process, the residual feed near the placement location is recovered, which improves the efficiency of feed recovery; the recycling path includes a circular path with the placement location as the center, so the recycling device can recover the remaining feed within the circumference of the placement location , Effectively expand the scope of feed recovery and improve the efficiency of feed recovery.
进一步地，本发明的另一个实施例还提供了一种饲料回收系统的使用方法，其中，通过所述数据处理模块对所述投放位置进行处理，得到饲料回收的回收路径，包括如下步骤：Further, another embodiment of the present invention also provides a method for using a feed recovery system, wherein the processing of the placement location by the data processing module to obtain a recovery path for feed recovery includes the following steps:
步骤S511：通过所述数据处理模块调用所述数据库模块存储的回收半径；Step S511: Call the recovery radius stored in the database module through the data processing module;
步骤S512：所述数据处理模块根据所述回收半径对所述投放位置进行处理，得到回收路径，所述回收路径包括经过所述投放位置的路径，以及以所述投放位置为圆心、以所述回收半径为半径的圆周路径。Step S512: The data processing module processes the placement position according to the recycling radius to obtain a recycling path. The recycling path includes a path passing through the placement position, and taking the placement position as the center of the circle and taking the The recovery radius is a circular path with a radius.
在本实施例中，步骤S511因饲料随着时间的推移，会在水中逐渐进行扩散，扩散的范围为以投放位置为圆心的半径范围内，因此饲料的最佳回收范围是以投放位置为圆心的半径范围内，将最佳回收范围的半径定义为回收半径，且回收半径的取值范围一致设置为0.5米到1米。数据库模块内存储有回收半径，有利于数据处理模块进行调用和处理，提高数据处理模块的数据处理效率。In this embodiment, in step S511, the feed will gradually diffuse in the water over time, and the diffusion range is within a radius centered on the placement position. Therefore, the optimal recovery range of the feed is based on the placement position as the center of the circle. Within the radius of, the radius of the optimal recovery range is defined as the recovery radius, and the value range of the recovery radius is uniformly set to 0.5 m to 1 m. The recovery radius is stored in the database module, which facilitates the calling and processing of the data processing module, and improves the data processing efficiency of the data processing module.
步骤S512数据处理模块根据回收半径对投放位置进行处理，即 数据处理模块根据投放位置和回收半径，处理得到若干条初始回收路径；其中若干条初始回收路径均含有投放位置，以及以投放位置为圆心、回收半径为半径的圆周。Step S512 The data processing module processes the placement location according to the recycling radius, that is, the data processing module processes the placement location and the recycling radius to obtain a number of initial recycling paths; some of the initial recycling paths all contain the placement location, and the placement location is the center of the circle. , The recovery radius is the circle of the radius.
其中，参照图3，假设在投放点有N个，数据处理模块根据N个投放点的位置处理得到若干条均经过N个投放点的投放点回收路径，那么数据处理模块会在若干条投放点回收路径中，选择路程最短的投放点回收路径为最佳投放点回收路径。并且，对于同一个投放点，同时经过投放点的投放位置和以投放位置为圆心、回收半径为半径的圆周也有多种的回收可能，假设M点、N点、X点、Y点均为圆周上的点，O点为投放位置，那么移动模块可以从M点出发进行移动，然后经过O点、X点，再进行圆周运动经过X点、M点、Y点、N点，再重新回到X点，接着移动模块从X点出发，移动到下一个投放点；或者移动模块可以从M点出发进行移动，先进行圆周运动，经过M点、Y点、N点、X点，然后重新回到M点，接着从M点出发移动到O点，到达投放位置，再从O点移动到下一个投放点；因此数据处理模块会在同一个投放点的若干条圆周回收路径中，选择最优的路径，使得移动模块的移动距离最少，得到最佳圆周回收路径。最佳投放点回收路径和最佳圆周回收路径的数量可能有若干条，数据处理模块结合若干条最佳投放点回收路径和若干条最佳圆周回收路径，可以得到若干条初始回收路径，且数据处理模块在若干条回收路径中选择最优的路径，使得移动模块的移动距离最小，从而提高移动模块的移动效率和回收模块的回收效率。Among them, referring to Figure 3, assuming that there are N placement points, the data processing module processes according to the positions of the N placement points to obtain a number of placement point recovery paths that all pass through the N placement points, and then the data processing module will place them at several placement points. In the recycling path, the recycling path of the placement point with the shortest distance is selected as the best placement point recycling path. In addition, for the same placement point, there are also multiple recycling possibilities that pass through the placement position of the placement point and the circle with the placement position as the center and the recycling radius as the radius. It is assumed that the points M, N, X, and Y are all circles. The above point, O point is the placement position, then the mobile module can start from M point to move, then pass O point, X point, and then perform circular motion through X point, M point, Y point, N point, and then return to At point X, then the mobile module starts from point X and moves to the next delivery point; or the mobile module can move from point M, first perform a circular motion, pass through points M, Y, N, and X, and then return To point M, then move from point M to point O, arrive at the placement position, and then move from point O to the next placement point; therefore, the data processing module will select the optimal one among several circular recycling paths at the same placement point The path of the mobile module minimizes the moving distance and obtains the best circular recovery path. There may be several optimal placement point recycling paths and optimal circular recycling paths. The data processing module combines several optimal placement point recycling paths and several optimal circular recycling paths to obtain several initial recycling paths, and data The processing module selects the optimal path among several recycling paths to minimize the moving distance of the mobile module, thereby improving the moving efficiency of the mobile module and the recycling efficiency of the recycling module.
进一步地，本发明的另一个实施例还提供了一种饲料回收系统的使用方法，其中，移动模块根据所述启动信息驱动所述回收模块沿着所述回收路径进行饲料回收，包括如下步骤：Further, another embodiment of the present invention also provides a method for using a feed recovery system, wherein the moving module drives the recovery module to perform feed recovery along the recovery path according to the startup information, including the following steps:
步骤S521：所述移动模块根据所述启动信息驱动所述回收模块进行移动；Step S521: The movement module drives the recovery module to move according to the activation information;
步骤S522：所述回收模块根据所述启动信息进行饲料回收操作；Step S522: The recovery module performs a feed recovery operation according to the startup information;
步骤S523：利用所述定位模块获取所述移动模块的实时行驶位置；Step S523: Obtain the real-time driving position of the mobile module by using the positioning module;
步骤S524：所述数据处理模块根据所述回收路径对所述实时行驶位置进行处理，若所述实时行驶位置在所述回收路径上，则所述移动模块继续移动；若所述实时行驶位置不在所述回收路径上，则所述移动模块返回到所述回收路径上进行移动。Step S524: The data processing module processes the real-time driving position according to the recovery path. If the real-time driving position is on the recovery path, the movement module continues to move; if the real-time driving position is not On the recovery path, the moving module returns to the recovery path to move.
在本实施例中，步骤S521移动模块接收启动信息，并进行移动，从而带动回收模块进行移动；步骤S522回收模块接收启动信息，并进行饲料回收操作；步骤S523定位模块获取移动模块的实时行驶位置，并传送到数据处理模块，实现对移动模块移动路径的实时监控。步骤S524数据处理模块根据回收路径对实时行驶位置进行数据判断处理，若实时行驶位置在回收路径的数据点上，则移动模块继续驱动回收模块进行移动；若实时行驶位置不在回收路径的数据点上，则移动模块驱动回收模块返回到回收路径上进行移动，其中驱动回收模块返回到回收路径上的位置可以设置为：在回收路径上，回收模块与回收路径最近距离的位置；通过数据处理模块对实时行驶位置的判断处 理，使得移动模块保持在回收路径上运动，从而提高回收模块对饲料回收的效率。In this embodiment, step S521 the mobile module receives the start information and moves, thereby driving the recovery module to move; step S522 the recovery module receives the start information and performs the feed recovery operation; step S523 the positioning module obtains the real-time driving position of the mobile module , And transmitted to the data processing module to realize real-time monitoring of the movement path of the mobile module. Step S524 The data processing module performs data judgment processing on the real-time driving position according to the recovery path. If the real-time driving position is at the data point of the recovery path, the mobile module continues to drive the recovery module to move; if the real-time driving position is not on the data point of the recovery path , The movement module drives the recycling module to return to the recycling path to move, where the position where the recycling module is driven back to the recycling path can be set as: on the recycling path, the position of the recycling module and the closest distance to the recycling path; The real-time driving position determination process keeps the mobile module moving on the recycling path, thereby improving the efficiency of the recycling module for feed recycling.
另外，参照图1-图3，本发明的另一个实施例还提供了一种饲料回收系统的使用方法，包括如下步骤：In addition, referring to Figures 1 to 3, another embodiment of the present invention also provides a method of using a feed recovery system, which includes the following steps:
步骤S100：利用定位模块将饲料投放点的投放位置上传到数据库模块进行存储；Step S100: using the positioning module to upload the placement position of the feed placement point to the database module for storage;
步骤S200：利用时间模块将饲料投放完成的投放完成时间上传到所述数据库模块进行存储；Step S200: using the time module to upload the delivery completion time of the feed delivery to the database module for storage;
步骤S310：通过所述数据处理模块调用所述数据库模块存储的回收间隔时间；Step S310: Call the recovery interval stored by the database module through the data processing module;
步骤S320：所述数据处理模块根据所述回收间隔时间对所述投放完成时间进行处理，得到回收启动时间；Step S320: The data processing module processes the placement completion time according to the recycling interval time to obtain the recycling start time;
步骤S410：利用所述时间模块获取实时时间；Step S410: Obtain real-time time by using the time module;
步骤S420：所述时间模块根据所述实时时间对所述回收启动时间进行对比，若所述实时时间与所述回收启动时间一致，则得到启动信息；Step S420: The time module compares the recovery start time according to the real-time time, and if the real-time time is consistent with the recovery start time, then start information is obtained;
步骤S430：通过所述时间模块将所述启动信息传送到所述移动模块；Step S430: Transmit the startup information to the mobile module through the time module;
步骤S511：通过所述数据处理模块调用所述数据库模块存储的回收半径；Step S511: Call the recovery radius stored in the database module through the data processing module;
步骤S512：所述数据处理模块根据所述回收半径对所述投放位置进行处理，得到回收路径，所述回收路径包括经过所述投放位置的 路径，以及以所述投放位置为圆心、以所述回收半径为半径的圆周路径；Step S512: The data processing module processes the placement position according to the recycling radius to obtain a recycling path. The recycling path includes a path passing through the placement position, and taking the placement position as the center of the circle and taking the The recovery radius is the circular path of the radius;
步骤S521：所述移动模块根据所述启动信息驱动所述回收模块进行移动；Step S521: The movement module drives the recovery module to move according to the activation information;
步骤S522：所述回收模块根据所述启动信息进行饲料回收操作；Step S522: The recovery module performs a feed recovery operation according to the startup information;
步骤S523：利用所述定位模块获取所述移动模块的实时行驶位置；Step S523: Obtain the real-time driving position of the mobile module by using the positioning module;
步骤S524：所述数据处理模块根据所述回收路径对所述实时行驶位置进行处理，若所述实时行驶位置在所述回收路径上，则所述移动模块继续移动；若所述实时行驶位置不在所述回收路径上，则所述移动模块返回到所述回收路径上进行移动。Step S524: The data processing module processes the real-time driving position according to the recovery path. If the real-time driving position is on the recovery path, the movement module continues to move; if the real-time driving position is not On the recovery path, the moving module returns to the recovery path to move.
在本实施例中，利用定位模块上传饲料投放点的投放位置，便于对投放位置进行检测和处理；利用时间模块获取饲料投放完成的投放完成时间，便于对投放完成时间进行处理，更好地调节移动模块和回收模块的工作时间；数据库模块用于存储数据，便于数据处理模块调用数据库模块内的数据，加快数据处理速率；数据处理模块根据投放完成时间得到回收启动时间，使得时间模块能够对回收启动时间进行实时时间对比，并将得到的启动信息传送到移动模块，保证了移动模块启动的准确性，提高了饲料回收的效率；移动模块驱动回收装置移动，使得回收装置能够沿着回收路径进行饲料回收，且回收路径包括经过投放位置的路径和以投放位置为圆心的圆周路径，提高了饲料回收的范围和效率，确保了饲料回收的有效性。In this embodiment, the positioning module is used to upload the placement position of the feed placement point, which is convenient for detecting and processing the placement position; the time module is used to obtain the placement completion time of the feed placement, which is convenient for processing the placement completion time and better adjustment The working time of the mobile module and the recovery module; the database module is used to store data, so that the data processing module can call the data in the database module to speed up the data processing rate; the data processing module obtains the recovery start time according to the delivery completion time, so that the time module can recover The startup time is compared in real time, and the obtained startup information is transmitted to the mobile module to ensure the accuracy of the startup of the mobile module and improve the efficiency of feed recovery; the mobile module drives the recovery device to move, so that the recovery device can follow the recovery path Feed recovery, and the recovery path includes a path passing through the placement position and a circular path centered on the placement position, which improves the scope and efficiency of feed recycling and ensures the effectiveness of feed recycling.
以上是对本发明的较佳实施进行了具体说明，但本发明并不局限于上述实施方式，熟悉本领域的技术人员在不违背本发明精神的前提下还可作出种种的等同变形或替换，这些等同的变形或替换均包含在本申请权利要求所限定的范围内。The above is a detailed description of the preferred implementation of the present invention, but the present invention is not limited to the above-mentioned embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention. Equivalent modifications or replacements are all included in the scope defined by the claims of this application.

Claims (7)

  1. 一种饲料回收系统，其特征在于，包括如下步骤：用于回收饲料的回收模块、用于检测饲料投放位置与实时行驶位置的定位模块、用于驱动所述回收模块移动的移动模块、用于存储数据的数据库模块、用于处理数据的数据处理模块和用于获取实时时间的时间模块。A feed recovery system is characterized by comprising the following steps: a recovery module for recovering feed, a positioning module for detecting feed placement and real-time driving position, a mobile module for driving the recovery module to move, and A database module for storing data, a data processing module for processing data, and a time module for acquiring real-time time.
  2. 根据权利要求1所述的一种饲料回收系统的使用方法，其特征在于：包括如下步骤：A method of using a feed recovery system according to claim 1, characterized in that it comprises the following steps:
    利用定位模块将饲料投放点的投放位置上传到数据库模块进行存储；Use the positioning module to upload the placement position of the feed placement point to the database module for storage;
    利用时间模块将饲料投放完成的投放完成时间上传到所述数据库模块进行存储；Use the time module to upload the delivery completion time of the feed delivery to the database module for storage;
    通过数据处理模块对所述投放完成时间进行处理，得到回收启动时间；Process the delivery completion time through the data processing module to obtain the recovery start time;
    利用所述时间模块获取实时时间，对所述回收启动时间与所述实时时间进行对比处理，并将得到的启动信息传送到移动模块；Use the time module to obtain the real-time time, compare the recovery start time with the real-time time, and transmit the obtained start information to the mobile module;
    所述移动模块根据所述启动信息和所述投放位置，驱动回收模块沿着回收路径进行饲料回收，所述回收路径包括经过所述投放位置的路径和以所述投放位置为圆心的圆周路径。The moving module drives the recovery module to recover feed along a recovery path according to the startup information and the placing position, and the recovery path includes a path passing through the placing position and a circular path centered on the placing position.
  3. 根据权利要求2所述的一种饲料回收系统的使用方法，其特征在于：通过数据处理模块对所述投放完成时间进行处理，得到回收启动时间，包括如下步骤：The method for using a feed recovery system according to claim 2, characterized in that: processing the delivery completion time through a data processing module to obtain the recovery start time, comprising the following steps:
    通过所述数据处理模块调用所述数据库模块存储的回收间隔时 间；Calling the recovery interval stored by the database module through the data processing module;
    所述数据处理模块根据所述回收间隔时间对所述投放完成时间进行处理，得到回收启动时间。The data processing module processes the placement completion time according to the recycling interval time to obtain the recycling start time.
  4. 根据权利要求2所述的一种饲料回收系统的使用方法，其特征在于：利用所述时间模块获取实时时间，对所述回收启动时间与所述实时时间进行对比处理，并将得到的启动信息传送到移动模块，包括如下步骤：The method for using a feed recovery system according to claim 2, wherein the time module is used to obtain real-time time, the recovery start time is compared with the real-time time, and the obtained start information Transfer to the mobile module, including the following steps:
    利用所述时间模块获取实时时间；Obtaining real-time time by using the time module;
    所述时间模块根据所述实时时间对所述回收启动时间进行对比，若所述实时时间与所述回收启动时间一致，则得到启动信息；The time module compares the recovery start time according to the real-time time, and if the real-time time is consistent with the recovery start time, the start information is obtained;
    通过所述时间模块将所述启动信息传送到所述移动模块。The startup information is transmitted to the mobile module through the time module.
  5. 根据权利要求2所述的一种饲料回收系统的使用方法，其特征在于：所述移动模块根据所述启动信息和所述投放位置，驱动回收模块沿着回收路径进行饲料回收，所述回收路径包括经过所述投放位置的路径和以所述投放位置为圆心的圆周路径，包括如下步骤：The method of using a feed recovery system according to claim 2, wherein the mobile module drives the recovery module to recover feed along the recovery path according to the start information and the placement position, and the recovery path Including a path passing through the placement position and a circular path centered on the placement position, including the following steps:
    通过所述数据处理模块对所述投放位置进行处理，得到饲料回收的回收路径，所述回收路径包括经过所述投放位置的路径和以所述投放位置为圆心的圆周路径；Processing the dropping position by the data processing module to obtain a recycling path for feed recovery, the recycling path including a path passing through the dropping position and a circular path centered on the dropping position;
    所述移动模块根据所述启动信息驱动所述回收模块沿着所述回收路径进行饲料回收。The moving module drives the recycling module to perform feed recycling along the recycling path according to the activation information.
  6. 根据权利要求5所述的一种饲料回收系统的使用方法，其特征在于：通过所述数据处理模块对所述投放位置进行处理，得到饲料回收 的回收路径，包括如下步骤：The method of using a feed recovery system according to claim 5, wherein the processing of the placement location by the data processing module to obtain a recovery path for feed recovery includes the following steps:
    通过所述数据处理模块调用所述数据库模块存储的回收半径；Calling the recovery radius stored by the database module through the data processing module;
    所述数据处理模块根据所述回收半径对所述投放位置进行处理，得到回收路径，所述回收路径包括经过所述投放位置的路径，以及以所述投放位置为圆心、以所述回收半径为半径的圆周路径。The data processing module processes the placement position according to the recycling radius to obtain a recycling path. The recycling path includes a path passing through the placement position, and taking the placement position as the center and taking the recycling radius as the center. The circular path of the radius.
  7. 根据权利要求6所述的一种饲料回收系统的使用方法，其特征在于：所述移动模块根据所述启动信息驱动所述回收模块沿着所述回收路径进行饲料回收，包括如下步骤：The method of using a feed recovery system according to claim 6, wherein the moving module drives the recovery module to perform feed recovery along the recovery path according to the activation information, comprising the following steps:
    所述移动模块根据所述启动信息驱动所述回收模块进行移动；The moving module drives the recycling module to move according to the startup information;
    所述回收模块根据所述启动信息进行饲料回收操作；The recovery module performs a feed recovery operation according to the startup information;
    利用所述定位模块获取所述移动模块的实时行驶位置；Obtaining the real-time driving position of the mobile module by using the positioning module;
    所述数据处理模块根据所述回收路径对所述实时行驶位置进行处理，若所述实时行驶位置在所述回收路径上，则所述移动模块继续移动；若所述实时行驶位置不在所述回收路径上，则所述移动模块返回到所述回收路径上进行移动。The data processing module processes the real-time driving position according to the recovery path. If the real-time driving position is on the recovery path, the movement module continues to move; if the real-time driving position is not in the recovery path On the path, the moving module returns to the recovery path to move.
PCT/CN2020/097244 2019-09-20 2020-06-19 Feed recycling system and using method thereof WO2021051911A1 (en)

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